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<div class="title">search.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEARCH_SEARCH_IMPL_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEARCH_SEARCH_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">   45</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">pcl::search::Search&lt;PointT&gt;::Search</a> (<span class="keyword">const</span> std::string&amp; name, <span class="keywordtype">bool</span> sorted)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  : input_ () </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  , indices_ ()</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  , sorted_results_ (sorted)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  , name_ (name)</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">const</span> std::string&amp; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">   55</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">pcl::search::Search&lt;PointT&gt;::getName</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">return</span> (name_);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">   62</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">pcl::search::Search&lt;PointT&gt;::setSortedResults</a> (<span class="keywordtype">bool</span> sorted)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  sorted_results_ = sorted;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">   69</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">pcl::search::Search&lt;PointT&gt;::getSortedResults</a> ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">return</span> (sorted_results_);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">   76</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">pcl::search::Search&lt;PointT&gt;::setInputCloud</a> (</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">const</span> PointCloudConstPtr&amp; cloud, <span class="keyword">const</span> IndicesConstPtr &amp;indices)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  input_ = cloud;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  indices_ = indices;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a5d7eedb3e5746257f121cdc675d6a21a">   86</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search&lt;PointT&gt;::nearestKSearch</a> (</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k,</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">   88</a></span>&#160;    std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">return</span> (nearestKSearch (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#ab79c10fe1e25b8c4a7104dd439e5f6e0">   96</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search&lt;PointT&gt;::nearestKSearch</a> (</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> k, </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    std::vector&lt;int&gt; &amp;k_indices, </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">   99</a></span>&#160;    std::vector&lt;float&gt; &amp;k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (indices_ == NULL)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> (nearestKSearch (input_-&gt;points[index], k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">  106</a></span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in nearestKSearch!&quot;</span>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordflow">if</span> (index &gt;= <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ()) || index &lt; 0)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span> (nearestKSearch (input_-&gt;points[(*indices_)[index]], k, k_indices, k_sqr_distances));</div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">  112</a></span>&#160;  }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a7191bd8166bed4623c27199bf59e972c">  117</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search&lt;PointT&gt;::nearestKSearch</a> (</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices, </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">int</span> k, std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices,</div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">  120</a></span>&#160;    std::vector&lt; std::vector&lt;float&gt; &gt;&amp; k_sqr_distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    k_indices.resize (cloud.size ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    k_sqr_distances.resize (cloud.size ());</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); i++)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      nearestKSearch (cloud, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i), k, k_indices[i], k_sqr_distances[i]);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    k_indices.resize (indices.size ());</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    k_sqr_distances.resize (indices.size ());</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); i++)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      nearestKSearch (cloud, indices[i], k, k_indices[i], k_sqr_distances[i]);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#ac4d5771324782f22122f9733efeb3e63">  140</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search&lt;PointT&gt;::radiusSearch</a> (</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;cloud, <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    std::vector&lt;int&gt; &amp;k_indices, std::vector&lt;float&gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in radiusSearch!&quot;</span>);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">return</span> (radiusSearch(cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index], radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a6806b0255d2921adb04275439cf4cfd6">  151</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search&lt;PointT&gt;::radiusSearch</a> (</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordtype">int</span> index, <span class="keywordtype">double</span> radius, std::vector&lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    std::vector&lt;float&gt; &amp;k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn )<span class="keyword"> const</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">if</span> (indices_ == NULL)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;points.size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in radiusSearch!&quot;</span>);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> (radiusSearch (input_-&gt;points[index], radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    assert (index &gt;= 0 &amp;&amp; index &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ()) &amp;&amp; <span class="stringliteral">&quot;Out-of-bounds error in radiusSearch!&quot;</span>);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">return</span> (radiusSearch (input_-&gt;points[(*indices_)[index]], radius, k_indices, k_sqr_distances, max_nn));</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;}</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a71d9c395bc2de70831e9bca8ff6b27c9">  169</a></span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search&lt;PointT&gt;::radiusSearch</a> (</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud,</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    std::vector&lt; std::vector&lt;int&gt; &gt;&amp; k_indices,</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    std::vector&lt; std::vector&lt;float&gt; &gt; &amp;k_sqr_distances,</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    k_indices.resize (cloud.size ());</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    k_sqr_distances.resize (cloud.size ());</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); i++)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      radiusSearch (cloud, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i), radius,k_indices[i], k_sqr_distances[i], max_nn);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  }</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a5d7eedb3e5746257f121cdc675d6a21a">  184</a></span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    k_indices.resize (indices.size ());</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    k_sqr_distances.resize (indices.size ());</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); i++)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      radiusSearch (cloud,indices[i],radius,k_indices[i],k_sqr_distances[i], max_nn);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;}</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search&lt;PointT&gt;::sortResults</a> (</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    std::vector&lt;int&gt;&amp; indices, std::vector&lt;float&gt;&amp; distances)<span class="keyword"> const</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  std::vector&lt;int&gt; order (indices.size ());</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; order.size (); ++idx)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    order [idx] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (idx);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  Compare compare (distances);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  sort (order.begin (), order.end (), compare);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  std::vector&lt;int&gt; sorted (indices.size ());</div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#ab79c10fe1e25b8c4a7104dd439e5f6e0">  206</a></span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; order.size (); ++idx)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    sorted [idx] = indices[order [idx]];</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  indices = sorted;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  <span class="comment">// sort  the according distances.</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  sort (distances.begin (), distances.end ());</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_Search(T) template class PCL_EXPORTS pcl::search::Search&lt;T&gt;;</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef _PCL_SEARCH_SEARCH_IMPL_HPP_</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_search.html#a7191bd8166bed4623c27199bf59e972c">  218</a></span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a0ab66bf51224fca916cc193e953d39d8"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a0ab66bf51224fca916cc193e953d39d8">pcl::search::Search::getSortedResults</a></div><div class="ttdeci">virtual bool getSortedResults()</div><div class="ttdoc">Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results ma...</div><div class="ttdef"><b>Definition:</b> search.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a3f7aa9ba73d098c204bc8a6b9dd293dc"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a3f7aa9ba73d098c204bc8a6b9dd293dc">pcl::search::Search::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Pass the input dataset that the search will be performed on.</div><div class="ttdef"><b>Definition:</b> search.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a441f41e648d284d68e1f2015d40f5e7c"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a441f41e648d284d68e1f2015d40f5e7c">pcl::search::Search::radiusSearch</a></div><div class="ttdeci">virtual int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const =0</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a58f09ccdd4f9296a3462f902f78ee544"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a58f09ccdd4f9296a3462f902f78ee544">pcl::search::Search::getName</a></div><div class="ttdeci">virtual const std::string &amp; getName() const</div><div class="ttdoc">Returns the search method name</div><div class="ttdef"><b>Definition:</b> search.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a77f437ecf7fa36987632db9c2b450441"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a77f437ecf7fa36987632db9c2b450441">pcl::search::Search::Search</a></div><div class="ttdeci">Search(const std::string &amp;name=&quot;&quot;, bool sorted=false)</div><div class="ttdef"><b>Definition:</b> search.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a97b4eff97eaa23d4586ca9b16d1b0671"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a97b4eff97eaa23d4586ca9b16d1b0671">pcl::search::Search::nearestKSearch</a></div><div class="ttdeci">virtual int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const =0</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_af5e9ca2efdb199e64d05c399ea4a4412"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">pcl::search::Search::setSortedResults</a></div><div class="ttdeci">virtual void setSortedResults(bool sorted)</div><div class="ttdoc">sets whether the results should be sorted (ascending in the distance) or not</div><div class="ttdef"><b>Definition:</b> search.hpp:62</div></div>
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